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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::gpu::kinfuLS::RayCaster结构体 参考</div>  </div>
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<p>Class that performs raycasting for TSDF volume  
 <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="large__scale_2include_2pcl_2gpu_2kinfu__large__scale_2raycaster_8h_source.html">raycaster.h</a>&gt;</code></p>
<table class="memberdecls">
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Public 类型</h2></td></tr>
<tr class="memitem:a6f59ead7a7820a2adf15f1af71f333c6"><td class="memItemLeft" align="right" valign="top"><a id="a6f59ead7a7820a2adf15f1af71f333c6"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html">RayCaster</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a6f59ead7a7820a2adf15f1af71f333c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a>&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>MapArr</b></td></tr>
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<tr class="memitem:a9d4f21001ef4d41afe7e20df715b0bab"><td class="memItemLeft" align="right" valign="top"><a id="a9d4f21001ef4d41afe7e20df715b0bab"></a>
typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">PixelRGB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>View</b></td></tr>
<tr class="separator:a9d4f21001ef4d41afe7e20df715b0bab"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a>&lt; unsigned short &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Depth</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a2bc4fa92143ce5c668c90aaf884798c8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a2bc4fa92143ce5c668c90aaf884798c8">RayCaster</a> (int rows=480, int <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#ae43a4771fa0d4910e87c79e513173b41">cols</a>=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</td></tr>
<tr class="memdesc:a2bc4fa92143ce5c668c90aaf884798c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a2bc4fa92143ce5c668c90aaf884798c8">更多...</a><br /></td></tr>
<tr class="separator:a2bc4fa92143ce5c668c90aaf884798c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d524be52075e568c65b3eb398e4dbc2"><td class="memItemLeft" align="right" valign="top"><a id="a3d524be52075e568c65b3eb398e4dbc2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a3d524be52075e568c65b3eb398e4dbc2">setIntrinsics</a> (float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</td></tr>
<tr class="memdesc:a3d524be52075e568c65b3eb398e4dbc2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets camera intrinsics <br /></td></tr>
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<tr class="memitem:a2fafa54a7f14c5cdf6c08ed2ed28e38d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a2fafa54a7f14c5cdf6c08ed2ed28e38d">run</a> (const <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a> &amp;volume, const Eigen::Affine3f &amp;camera_pose, <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *buffer)</td></tr>
<tr class="memdesc:a2fafa54a7f14c5cdf6c08ed2ed28e38d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs raycasting algorithm from given camera pose. It writes results to internal fiels.  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a2fafa54a7f14c5cdf6c08ed2ed28e38d">更多...</a><br /></td></tr>
<tr class="separator:a2fafa54a7f14c5cdf6c08ed2ed28e38d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a89e384337be584006b47cf71a18e43"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a4a89e384337be584006b47cf71a18e43">generateSceneView</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;view) const</td></tr>
<tr class="memdesc:a4a89e384337be584006b47cf71a18e43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates scene view using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a4a89e384337be584006b47cf71a18e43">更多...</a><br /></td></tr>
<tr class="separator:a4a89e384337be584006b47cf71a18e43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa3989261742842a5e1fc0139ef0b8de"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#afa3989261742842a5e1fc0139ef0b8de">generateSceneView</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;view, const Eigen::Vector3f &amp;light_source_pose) const</td></tr>
<tr class="memdesc:afa3989261742842a5e1fc0139ef0b8de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates scene view using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#afa3989261742842a5e1fc0139ef0b8de">更多...</a><br /></td></tr>
<tr class="separator:afa3989261742842a5e1fc0139ef0b8de"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5409fb939967ef57ca46dd888b31cb17"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a5409fb939967ef57ca46dd888b31cb17">generateDepthImage</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a> &amp;depth) const</td></tr>
<tr class="memdesc:a5409fb939967ef57ca46dd888b31cb17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates depth image using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a5409fb939967ef57ca46dd888b31cb17">更多...</a><br /></td></tr>
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<tr class="memitem:ab45131eb4c41af1c945d928ab5da3e7a"><td class="memItemLeft" align="right" valign="top"><a id="ab45131eb4c41af1c945d928ab5da3e7a"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#ab45131eb4c41af1c945d928ab5da3e7a">getVertexMap</a> () const</td></tr>
<tr class="memdesc:ab45131eb4c41af1c945d928ab5da3e7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns raycasterd vertex map. <br /></td></tr>
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<tr class="memitem:a2865fc45e06473ca2937d3bf5037cbb6"><td class="memItemLeft" align="right" valign="top"><a id="a2865fc45e06473ca2937d3bf5037cbb6"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a2865fc45e06473ca2937d3bf5037cbb6">getNormalMap</a> () const</td></tr>
<tr class="memdesc:a2865fc45e06473ca2937d3bf5037cbb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns raycasterd normal map. <br /></td></tr>
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Public 属性</h2></td></tr>
<tr class="memitem:ae43a4771fa0d4910e87c79e513173b41"><td class="memItemLeft" align="right" valign="top"><a id="ae43a4771fa0d4910e87c79e513173b41"></a>
const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#ae43a4771fa0d4910e87c79e513173b41">cols</a></td></tr>
<tr class="memdesc:ae43a4771fa0d4910e87c79e513173b41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Image with height <br /></td></tr>
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<tr class="memitem:a5aa83a931160628f09f1e3bd74e6118d"><td class="memItemLeft" align="right" valign="top"><a id="a5aa83a931160628f09f1e3bd74e6118d"></a>
const int&#160;</td><td class="memItemRight" valign="bottom"><b>rows</b></td></tr>
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Private 属性</h2></td></tr>
<tr class="memitem:aa6a7453ace08cab57559caeccbbf54b3"><td class="memItemLeft" align="right" valign="top"><a id="aa6a7453ace08cab57559caeccbbf54b3"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#aa6a7453ace08cab57559caeccbbf54b3">fx_</a></td></tr>
<tr class="memdesc:aa6a7453ace08cab57559caeccbbf54b3"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_camera.html">Camera</a> intrinsics. <br /></td></tr>
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<tr class="memitem:a6133f3a31dee2b8b89384db419cb457d"><td class="memItemLeft" align="right" valign="top"><a id="a6133f3a31dee2b8b89384db419cb457d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>fy_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>cx_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>cy_</b></td></tr>
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<tr class="memitem:a21d69188af5a7fc4a941d60010988b0d"><td class="memItemLeft" align="right" valign="top"><a id="a21d69188af5a7fc4a941d60010988b0d"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a21d69188af5a7fc4a941d60010988b0d">vertex_map_</a></td></tr>
<tr class="memdesc:a21d69188af5a7fc4a941d60010988b0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">vertex map of 3D points <br /></td></tr>
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<tr class="memitem:ae333aae1741886df5b73fd8e1b3ff2ce"><td class="memItemLeft" align="right" valign="top"><a id="ae333aae1741886df5b73fd8e1b3ff2ce"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#ae333aae1741886df5b73fd8e1b3ff2ce">normal_map_</a></td></tr>
<tr class="memdesc:ae333aae1741886df5b73fd8e1b3ff2ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">normal map of 3D points <br /></td></tr>
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<tr class="memitem:ad709de39109f4fb0adbf84b1f91c0b22"><td class="memItemLeft" align="right" valign="top"><a id="ad709de39109f4fb0adbf84b1f91c0b22"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#ad709de39109f4fb0adbf84b1f91c0b22">camera_pose_</a></td></tr>
<tr class="memdesc:ad709de39109f4fb0adbf84b1f91c0b22"><td class="mdescLeft">&#160;</td><td class="mdescRight">camera pose from which raycasting was done <br /></td></tr>
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<tr class="memitem:a66aa9dd7bbcb41e9a32bce8ac6485dab"><td class="memItemLeft" align="right" valign="top"><a id="a66aa9dd7bbcb41e9a32bce8ac6485dab"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html#a66aa9dd7bbcb41e9a32bce8ac6485dab">volume_size_</a></td></tr>
<tr class="memdesc:a66aa9dd7bbcb41e9a32bce8ac6485dab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last passed volume size <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Class that performs raycasting for TSDF volume </p>
<dl class="section author"><dt>作者</dt><dd>Anatoly Baskeheev, Itseez Ltd, (<a href="#" onclick="location.href='mai'+'lto:'+'myn'+'am'+'e.m'+'ys'+'urn'+'am'+'e@m'+'yc'+'omp'+'an'+'y.c'+'om'; return false;">mynam<span style="display: none;">.nosp@m.</span>e.my<span style="display: none;">.nosp@m.</span>surna<span style="display: none;">.nosp@m.</span>me@m<span style="display: none;">.nosp@m.</span>ycomp<span style="display: none;">.nosp@m.</span>any.<span style="display: none;">.nosp@m.</span>com</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a2bc4fa92143ce5c668c90aaf884798c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2bc4fa92143ce5c668c90aaf884798c8">&#9670;&nbsp;</a></span>RayCaster()</h2>

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          <td class="memname">pcl::gpu::kinfuLS::RayCaster::RayCaster </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>rows</em> = <code>480</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>cols</em> = <code>640</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>fx</em> = <code>525.f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>fy</em> = <code>525.f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cx</em> = <code>-1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cy</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rows</td><td>image rows </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cols</td><td>image cols </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fx</td><td>focal x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fy</td><td>focal y </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cx</td><td>principal point x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cy</td><td>principal point y </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a5409fb939967ef57ca46dd888b31cb17"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5409fb939967ef57ca46dd888b31cb17">&#9670;&nbsp;</a></span>generateDepthImage()</h2>

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<div class="memproto">
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          <td class="memname">void pcl::gpu::kinfuLS::RayCaster::generateDepthImage </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a> &amp;&#160;</td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates depth image using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">depth</td><td>output array for depth image <br  />
 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a4a89e384337be584006b47cf71a18e43"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4a89e384337be584006b47cf71a18e43">&#9670;&nbsp;</a></span>generateSceneView() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::RayCaster::generateSceneView </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>view</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates scene view using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view</td><td>output array for <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> image <br  />
 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="afa3989261742842a5e1fc0139ef0b8de"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afa3989261742842a5e1fc0139ef0b8de">&#9670;&nbsp;</a></span>generateSceneView() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::RayCaster::generateSceneView </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>view</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>light_source_pose</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates scene view using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view</td><td>output array for <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">light_source_pose</td><td>pose of light source </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a2fafa54a7f14c5cdf6c08ed2ed28e38d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2fafa54a7f14c5cdf6c08ed2ed28e38d">&#9670;&nbsp;</a></span>run()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::RayCaster::run </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a> &amp;&#160;</td>
          <td class="paramname"><em>volume</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>camera_pose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *&#160;</td>
          <td class="paramname"><em>buffer</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Runs raycasting algorithm from given camera pose. It writes results to internal fiels. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">volume</td><td>tsdf volume container </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">camera_pose</td><td>camera pose </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">buffer</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>该结构体的文档由以下文件生成:<ul>
<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/<a class="el" href="large__scale_2include_2pcl_2gpu_2kinfu__large__scale_2raycaster_8h_source.html">raycaster.h</a></li>
</ul>
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    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>gpu</b></li><li class="navelem"><b>kinfuLS</b></li><li class="navelem"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_ray_caster.html">RayCaster</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
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